Smart drilling machine, smart drilling system, and method of controlling smart drilling system

ABSTRACT

A smart drilling system includes a terminal configured to map a design space to an actual space and having perforation location information in the design space, a drilling machine including a drill for perforation and configured to perform perforation in the actual space under control of the terminal based on the perforation location information, and a total station configured to acquire location information of a reference point in the actual space for mapping the design space to the actual space and location information of the drilling machine in the actual space, and to transmit the location information of the reference point in the actual space and the location information of the drilling machine to the terminal, wherein the terminal recognizes and displays a perforable region or a perforable point at a current position of the drilling machine.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of Korean Patent Application No.10-2020-0068887, filed on Jun. 8, 2020, which is hereby incorporated byreference as if fully set forth herein.

BACKGROUND OF THE INVENTION Field of the Invention

The present disclosure relates to an automatic drilling robot and anautomatic drilling robot system and method, and more particularly to anautomatic drilling robot and an automatic drilling robot system andmethod for automatically performing perforation at an accurate positionby mapping design coordinates and actual coordinates based on a totalstation.

Discussion of the Related Art

In general, many perforation points are formed in the ceiling of abuilding. It is necessary to support various ceiling structures such aswater plumbing, piping for water for fire-fighting, or air conditioningequipment including sprinklers and air conditioners. The ceilingstructure is supported to the ceiling by an anchor bolt, and accordinglyit is required to perforate the ceiling in order to install the anchorbolt.

Needless to say, the number and positions of perforation points on aceiling surface may differ depending on the use of a building. As thenumber of perforation points increases, it obviously becomes difficultto perforate the ceiling and the time taken to make holes in the ceilingis inevitably lengthened.

In general, in the case of a small building, a worker manuallyperforates a ceiling surface using a drill. In this case, the worker isgreatly inconvenienced by the requirement to frequently move a ladder ora support depending on the position of a perforation point. Needless tosay, it is very difficult to manually perforate the ceiling due to theuncomfortable working posture.

In the case of a relatively large building, the area over whichperforation needs to be performed increases, and accordingly the numberof perforation points also increases. When a ceiling height is high, thescaffolding is used, and a significant amount of time is taken to ascendand descend the scaffolding and to directly perform perforation work.This is because the scaffolding needs to be moved in order to performthe perforation work at a specific position and then to perform theperforation work at another position, and in this case, the scaffoldingneeds to be moved after descending for safety. In addition, thescaffolding needs to be raised back to the working height again afterbeing moved. Accordingly, it is very disadvantageous in terms ofefficiency to manually perform large amounts of perforation work, inparticular, in an environment in which a ceiling height is high.

When large amounts of perforation work are performed, accuracy as wellas efficiency is very important. In other words, perforation needs to beaccurately performed at a designed position. Here, assuming that theceiling surface for perforation is a plane, a perforation point needs tobe formed at an accurate position on planar coordinates. If not, this isbecause a lot of difficulties inevitably arise in the work of formingthe ceiling structure.

When a worker directly performs perforation using a drill, he or shealso manually marks a perforation location. That is, it is common toperform perforation using a drill after marking each perforationlocation one by one with reference to a blueprint.

Accordingly, it is not easy to mark the perforation location and theaccuracy thereof is also inevitably degraded. As a result, the accuracyof perforation is degraded, and the possibility that perforation pointsare not formed at intended locations after terminating the perforationwork inevitably increases. When it is observed that the perforationpoints are not formed at intended locations, the perforation work needsto be performed again, and accordingly working efficiency is greatlylowered.

As well as in perforation work for a ceiling, this problem also occursin perforation work for other surfaces such as vertical walls.

SUMMARY OF THE INVENTION

An object of the present disclosure is to provide a drilling machine, adrilling system, and a method of controlling the drilling system formore accurately, rapidly, and safely performing perforation work.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forcollectively setting a plurality of perforation points and also settinga specific single perforation point as necessary.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forautomatically perforating a plurality of perforation points and alsoautomatically perforating a specific single perforation point asnecessary. As such, an embodiment of the present disclosure may providea drilling machine, a drilling system, and a method of controlling thedrilling system for flexibly responding to the situation in the field.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forflexibly applying design information for a perforation point provided invarious forms. As such, an embodiment of the present disclosure mayprovide a drilling machine, a drilling system, and a method ofcontrolling the drilling system which are easily used even if thesituation in the field or a design form is changed.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system foreasily connecting a drilling machine and a total station through apersonal computer (PC) (terminal) for controlling the drilling machineand the total station and simultaneously easily recognizing stateinformation of the drilling machine and the total station.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forreducing the time taken to perforate all perforation points byminimizing movement of the drilling machine when all of the perforationpoints are perforated.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forrecognizing an optimum moving route for moving a drilling machine byrecognizing a perforable point at the current position of the drillingmachine and displaying the perforable point on a PC (terminal).

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forallowing a worker to intuitively recognize the current state ofperforation work by mutually distinguishably displaying all of theperforation point, the perforable point, the perforated point, and thepoint being perforated.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forreducing the time taken to recognize the perforable point by setting anyone of three reference points for recognizing a work region of thedrilling machine as a reference position point of the drilling machine.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forreducing a time taken to perform perforation by minimizing a movingroute of a position adjustment device of a drilling machine betweenperforation tasks when perforation is continuously performed.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forperforming perforation to an accurate depth at an accurate positiondespite an error due to the state of a floor surface on which thedrilling machine is positioned, a construction error due to the state ofa ceiling surface on which perforation is performed, or vibration.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forminimizing a change in the control logic of the drilling machine and thetotal station by acquiring state information of the drilling machine viareal-time communication with the drilling machine and controlling theoperation of the drill and the position adjustment device of thedrilling machine using a PC (terminal), and acquiring the locationinformation of the drilling machine via real-time communication with thetotal station by the PC (terminal).

According to an aspect of the present disclosure, a smart drillingsystem includes a terminal (PC) configured to map a design space to anactual space and having perforation location information in the designspace, a drilling machine including a drill for perforation andconfigured to perform perforation in the actual space under control ofthe terminal based on the perforation location information, and a totalstation configured to acquire location information of a reference pointin the actual space for mapping the design space to the actual space andlocation information of the drilling machine in the actual space, and totransmit the location information of the reference point in the actualspace and the location information of the drilling machine to theterminal.

Here, the terminal may be a tablet PC, a desk top PC, or a laptop PC.However, it is necessary to be able to easily carry and manipulate theterminal in a jobsite, and thus the terminal may be a tablet PC.However, the shape, type, and size of a PC may be easily changed andmodified.

The terminal may include a display region. A view containing perforationlocation information, location information of the total station, andlocation information of the drilling machine, obtained through mappinginformation between the design space and the actual space, may bedisplayed in the display region.

The view containing the perforation location information, the locationinformation of the total station, and the location information of thedrilling machine may be displayed after the terminal recognizes thetotal station and the drilling machine. The perforation locationinformation, the location information of the total station, and thelocation information of the drilling machine may be sequentially addedand may be displayed together.

First, the view having the perforation location information may bedisplayed and then a view to which location information of the totalstation is added may be displayed in this view. Then, a view to whichlocation information of the drilling machine is added may be displayedin this view.

Accordingly, a worker may intuitively perform perforation preparationwork using a view that is sequentially changed for perforation work.

The display region may include a submenu for zooming in/out, rotation,and viewpoint conversion of the view. A field drawing designedthree-dimensionally may be easily recognized through conversion betweenvarious viewpoints such as a plane view.

The terminal may include a menu region. The menu region may be separatedfrom the display region in terms of a position in the display of a PC.The menu region may be positioned above the display, and the displayregion may be positioned below the menu region. The greatest portion ofthe display may be occupied by the display region.

The menu region may include a menu for connection between the terminaland the total station via communication and a menu for connectionbetween the terminal and the drilling machine via communication.

Menus in the menu region may be arranged in consideration of the orderof the perforation work. Thus, menus for connection between componentsfor preparing perforation may be disposed at the leftmost side of thedisplay. Menus corresponding to subsequent tasks may be sequentiallyarranged on the right side.

The menu region may include a work menu for separating a plurality ofactual spaces in which perforation work is to be performed.

A series of perforation tasks that require a long time may be dividedinto a plurality of units, and may be easily managed. The series ofperforation tasks may be divided and may be named for each floor orspace in a building. For example, a first floor is divided into sectorA, section B, and sector C of the first floor, which may have respectivetask names assigned thereto. The task manes may be set through a newtask menu, and when one task is not completed, an existing task may beimported again through a task open menu.

The menu region may include a drawing open menu for inputting a drawingcontaining perforation location information in a design space anddisplaying the input drawing in the display region.

A blueprint matching with the aforementioned task name may be importedthrough the drawing open menu.

The format of the blueprint may vary depending on a designer.Perforation points may also be displayed in one 3D drawing and may alsobe displayed as 2D drawings with respect to one 3D drawing. Theperforation point may be displayed with a red-filled circle or may bedisplayed with an empty circle.

Accordingly, it may be necessary to import a drawing through a drawingopen menu and then to extract a perforation point from the displayeddrawing.

The terminal may include a perforation coordinate display regionseparately from the menu region and the display region.

When perforation points are extracted from the displayed drawing,coordinates of the extracted perforation points may be mutuallydistinguishably displayed in the perforation coordinate display region.

In detail, perforation points may be visibly displayed in the displayregion, but the perforation point may be displayed in perforationcoordinates, that is, numbers in the perforation coordinate displayregion. In addition, a perforation point name for separating theperforation points may be displayed. State information of eachperforation point may also be displayed. That is, coordinates of theperforation point and the state of the perforation point may bedisplayed together in the perforation coordinate display region.

The perforation coordinate display region may include a submenu foradding coordinates of the perforation point.

The submenu may include at least one of a drawing menu for addingcoordinates of the perforation point to a drawing, a file menu foradding coordinates of the perforation point in a spreadsheet file, and acoordinate menu for writing and adding coordinates of the perforationpoint by a user.

The menu region may include a reference-point setting menu for acquiringlocation information of a reference point in the actual space anddisplaying the position of the total station in the display region bythe total station.

The reference point of the actual space may be three reference pointshaving different coordinates. The actual coordinates of the threereference points need to be known. The actual space and the design spacemay be mapped to each other using the known actual coordinates. A PC maycalculate a transform matrix for mapping the design space to the actualspace, and the two spaces may be mapped to each other using thetransform matrix.

When the position of the total station is displayed in the displayregion and then location information of the drilling machine is acquiredby collimating the drilling machine by the total station, the positionof the drilling machine may be displayed.

A space shown in the display region and an actual space may be mapped toeach other. That is, a 3D actual space may be displayed in a mapped 3Dspace in the display region. In other words, the actual space may beembodied on a display. As described above, a viewpoint of a view on thedisplay may be changed in various ways.

After acquiring location information of the drilling machine, thedrilling machine may be operated to acquire location information ofthree different work regions of the drilling machine from the totalstation.

The drilling machine needs to be moved to perform perforation withrespect to an entire actual space. This is because the region in whichperforation is capable of being performed using a position adjustmentdevice is limited in the state in which the drilling machine is fixed.

Accordingly, a reference point for setting a reference portion of thedrilling machine needs to be configured. Similarly, it may be necessaryto recognize a region in which the drilling machine is capable ofperforming perforation at the current position of the drilling machine.To this end, location information of three work regions of the drillingmachine may be required.

Here, any one of the location information of three work regions of thedrilling machine may be a reference point of the drilling machine.

In detail, when location information of the drilling machine isacquired, the position of the drilling machine in the design space maybe recognized. However, it may not be possible to recognize an accurateorientation or shape of the drilling machine. Thus, it may be necessaryto convert the coordinate system of the drilling machine into thecoordinate system of a design space. In other words, the preciseorientation of the drilling machine may be checked by recognizing thelocation information of three work regions of the drilling machine, andthus a perforable point may be recognized at the current position.

Displacement in which the drill is moveable along three axes in 3D toperform perforation at the current position of the drilling machine maybe preset according to the specifications of the drilling machine. Thespecifications may be known by a controller of the drilling machine or aPC.

Thus, when location information of three work regions of the drillingmachine is recognized, an actual space and a work region of the drillingmachine may be mapped to each other. That is, the orientation of thedrilling machine may be recognized by converting a coordinate system ofthe drilling machine into a coordinate system of a design space, andthus a perforable point may be recognized at the current position. Thismeans that it is possible to map a space displayed on a PC and a workregion of the drilling machine to each other. Here, the work region ofthe drilling machine may be referred to as a work region of the drillingmachine. However, in many cases, the drilling machine performsperforation in the same plane as a ceiling surface, and thus the workregion of the drilling machine may be referred to a drilling machinework region for convenience.

The menu region may include a perforable point verification menu forrecognizing a perforable point at the current position of the drillingmachine based on the location information of three work regions of thedrilling machine.

When the perforable point verification menu is selected, the drillingmachine may be sequentially moved to the three work region positions inthe PC. In detail, the position adjustment device for adjusting theposition of the drill may be operated to move the drill to threereference positions.

The total station may acquire location information of the threereference positions, and may transfer the acquired location informationto a PC. Thereby, the PC may convert a coordinate system of a drillingmachine into a coordinate system of a design space to accuratelyrecognize the orientation of the drilling machine and may recognize aperforable point at the current position of the drilling machine withrespect to all perforation points.

When the perforable point verification menu is selected, the displayregion may mutually distinguishably display a perforable point and theremaining perforation points among the all perforation points. Thus, aworker may visibly and intuitively recognize the progress of perforationwork through the display.

The menu region may include a perforation menu for selecting theperforable points to be sequentially perforated. When the perforationmenu is selected, a plurality of perforable points may be sequentiallyand collectively perforated. Accordingly, input of a command forperforation by a worker may be minimized.

When the perforation menu is selected, as perforation proceeds, aperforable point, a point being perforated, and a perforated point maybe mutually distinguishably displayed. Thus, the worker may visibly andintuitively recognize a progress of perforation.

The perforation coordinate display region may include a selected pointperforation menu for selecting one specific perforation point among theperforate points to be perforated. The selected point perforation menumay be configured to perforate a specific perforation point in aspecific situation. When perforation points are not collectively added,but instead one specific perforation point is added, perforation may beflexibly performed through the selected point perforation menu. Thus,the drilling machine may be flexibly used depending on the situation inthe field in two perforation modes, including a mode in which aplurality of perforation points is perforated and a mode in which asingle perforation point is perforated.

The specific perforation point may be selected by clicking a specificperforation point in the display region or clicking a specificperforation point displayed in the perforation coordinate displayregion.

To achieve the aforementioned object, an embodiment of the presentdisclosure may provide a smart drilling machine for performingperforation through control of driving of an external terminal, thesmart drilling machine including a drill, a position adjustment deviceconfigured to three-dimensionally move the drill, a prism configured toallow an external total station to acquire the location information ofthe smart drilling machine through tracking by the external totalstation, a moving device configured to support the drilling machine onthe floor surface of the actual space and to move the positionadjustment device parallel to the floor surface of the actual space, andan ascending/descending device disposed between the moving device andthe position adjustment device and configured to adjust the height of aninitial position of the drill, wherein the smart drilling machine isconfigured to execute a single perforation mode and a multipleperforation mode through control of the terminal.

In the single perforation mode, the position adjustment device may drivethe drill so as to sequentially move the same to a home position, amargin position for a perforation point, a perforation location, and ahome position.

In the multiple perforation mode, the position adjustment device maydrive the drill to perforate a specific perforation point and may thendrive the drill to a margin position from the perforation locationbefore perforation at a next perforation point.

In the multiple perforation mode, a driving pattern of the positionadjustment device for perforating a first perforation point and adriving pattern of the position adjustment device after a lastperforation point is perforated may be the same as in the singleperforation mode. However, the driving pattern of the positionadjustment device when intermediate perforation points are perforatedmay differ therefrom. That is, in this case, the drill may not return tothe home position. Thereby, the time taken to perform perforation whilea plurality of perforation tasks is performed may be greatly reduced.

Here, the home position of the drill may be a home position of thedrilling machine or a home position of the position adjustment device.The lowest and most stable posture of the position adjustment device maybe taken as the home position or a reference position of the drillingmachine.

The margin position may be a position spaced apart downwards from adesigned position of a perforation point by a preset distance inconsideration of a construction error. The margin position may be aposition spaced apart downwards from a designed start point ofperforation by about 5 to 10 cm.

A ceiling surface on which perforation is performed may be actuallyconstructed higher or lower than the intended height. In this case,accurate perforation is not likely to be performed to the intendedperforation depth.

The position adjustment device may include a sensor configured to movethe drill until the drill comes into contact with the ceiling surface atthe margin position and to recognize the position at which the drillcomes into contact with the ceiling surface. That is, when the positionat which the drill comes into contact with the ceiling surface isrecognized, perforation may be performed to a designed perforation depthfrom this position. Thus, even if a construction error occurs, accurateperforation may be performed according to the designed perforationdepth.

To achieve the aforementioned object, an embodiment of the presentdisclosure may provide a method of controlling a smart drilling system,the method including a setting operation of connecting a total stationand a drilling machine via communication and displaying perforationlocation information in a design space, by a terminal, a firstmeasurement operation of acquiring location information of a referencepoint of the actual space and transmitting the acquired locationinformation to the terminal, by the total station, a first matchingoperation of displaying a location of the total station, by theterminal, a second measurement operation of acquiring locationinformation of the drilling machine and transmitting the acquiredlocation information to the terminal, by the total station, a secondmatching operation of displaying a location of the drilling machine, bythe terminal, a third measurement operation of operating the drillingmachine to occupy positions of three work regions of the drillingmachine, sequentially acquiring location information of the three workregions of the drilling machine, and transmitting the acquired locationinformation to the terminal, by the total station, a perforationpreparation operation of displaying a perforable region or a perforablepoint at a current position of the drilling machine, by the terminal,and a perforation operation of performing perforation through a drill ofthe drilling machine.

The method of controlling the smart drilling system may include a thirdmeasurement operation of operating the drilling machine to occupypositions of three work regions of the drilling machine, acquiringlocation information of the three work regions of the drilling machine,and transmitting the acquired location information to the terminal, bythe total station. The third measurement operation may be performedafter the second matching operation is performed.

The method of controlling the smart drilling system may include aperforation preparation operation of displaying a perforable region or aperforable point at the current position of the drilling machine. Theperforation preparation operation may be performed after the thirdmeasurement operation is performed.

The perforation operation may include mutually distinguishablydisplaying all perforation points, a current perforable point, aperforated point, and a point being perforated, by the terminal.

In a single perforation mode, the terminal may control the positionadjustment device to sequentially move the drill to a home position, amargin position of the perforation point, the perforation location, andthe home position.

In a multiple perforation mode, the terminal may control the positionadjustment device to move the drill to a margin position beforeperforation of a subsequent perforation point from a perforationlocation after perforation of a specific perforation point.

The setting operation may include an operation of inputting a drawingcontaining perforation location information in a design space anddisplaying the input drawing in the display region.

The setting operation may include an operation of extracting aperforation point from the displayed drawing and displaying coordinatesof the extracted perforation point.

The setting operation may include an operation of adding a perforationpoint through any one of an additional drawing, a spreadsheet file, andcoordinate description in the display drawing.

To achieve the above objective, according to an embodiment of thepresent disclosure, a smart drilling system includes a terminal (PC)configured to map a design space to an actual space and havingperforation location information in the design space, a drilling machine(a smart drilling machine and a smart drilling robot) including a drillfor perforation and configured to perform perforation in the actualspace under control of the terminal based on the perforation locationinformation, and a total station configured to acquire locationinformation of a reference point in the actual space for mapping thedesign space to the actual space and location information of thedrilling machine in the actual space, and to transmit the locationinformation of the reference point in the actual space and the locationinformation of the drilling machine to the terminal, wherein theterminal recognizes and displays a perforable region or a perforablepoint at the current position of the drilling machine through thelocation information of the drilling machine.

The drilling machine may include a position adjustment device configuredto three-dimensionally move the drill for perforation, and a prismconfigured to allow the total station to acquire the locationinformation of the drilling machine.

The position adjustment device may include the prism. A home position ofthe position adjustment device, that is, a preset stable position of theprism, may be referred to as a home position of the drilling machine.

As the position adjustment device is driven, the position of the prismmay be changed. Thus, a reference position of the drilling machine mayalso be changed.

When the entire drilling machine is moved, it may be required to movethe drilling machine in a stable posture. That is, accidents may beprevented by moving the drilling machine in the state in which thecenter of gravity thereof is lowered. Accordingly, the drilling machinemay be moved to the home position of the position adjustment device,that is, the home position of the drilling machine. In other words, whenperforation by the drilling machine at the current position iscompleted, the position adjustment device may return to the homeposition, and then the drilling machine may be moved.

The relative position of the prism with respect to the drill may befixed, and a three-dimensional displacement and an angle of the drillmay be the same with a three-dimensional displacement and an angle ofthe the prism when the position adjustment device is driven. That is,the drill and the prism may be moved as one body.

The drilling machine may include a moving device configured to supportthe drilling machine with respect to the floor surface of the actualspace and to move the position adjustment device parallel to the floorsurface of the actual space.

The moving device may include a wheel or a caterpillar track and may bemanually or electrically moved. The moving device may include a handlefor vertical movement, and may include a manipulation unit forelectrical movement. The manipulation unit may be included in thedrilling machine separately from the terminal. Needless to say, themoving device may include a separate remote controller for remotecontrol.

The drilling machine may include an ascending/descending device disposedbetween the moving device and the position adjustment device andconfigured to adjust a height of an initial position of the drill. Theascending/descending device may be manually or electrically operated.When the ascending/descending device is electrically operated, theascending/descending device may include a manipulation unit. Themanipulation unit may be included in a drilling machine separately fromthe terminal. Needless to say, the drilling machine may include aseparate remote controller for remote control.

The position adjustment device may be a robot including a plurality ofarms, and the drill and the prism may be disposed at an arm installed atan end of the robot.

The arm disposed at the end of the robot among a plurality of arms ofthe robot may have a larger upward-and-downward variable region thanother arms. That is, the arm disposed at the end of the robot may bepositioned at the uppermost position. Thus, the arm disposed at the endmay most accurately indicate the current height of the positionadjustment device. The prism may be included in the arm.

The location information of the drilling machine may include referencelocation information of the drilling machine and location information ofthree robot work regions based on preset driving of the robot.

As described above, the reference location information of the drillingmachine may be home location information of the position adjustmentdevice. Any one of information on the three work regions of the robotmay be home location information of the position adjustment device.

Location information may be acquired at a home position, locationinformation may be acquired at a first work region position, andlocation information may be acquired at a second work region position.Here, the home position, the second work region position, and the thirdwork region position may be preset according to the specifications ofthe drilling machine or the robot. That is, it may be seen that theprism is moved to these positions by preset driving of the positionadjustment device or the robot. Thus, a space of a work region of thedrilling machine may be mapped to a design space. Thereby, the regionsin which the drilling machine is to work in the actual space may berecognized.

The terminal may control the robot to be moved to locations of the threerobot work regions. The total station may sequentially acquire locationinformation of the three robot work regions and may transmit theacquired location information to the terminal.

The location information of the three work regions of the robot may beacquired by a worker through collimation by the total station or prismtracking by the total station.

The terminal may mutually distinguishably display all of the perforationpoint, the current perforable point, the perforated point, and the pointbeing perforated.

The location information of the drilling machine may be acquired bytracking the total station and the prism in real time. Thus, when theentire drilling machine is moved, the total station may recognize themoving route of the drilling machine in real time and may transmit thesame to the terminal. Thus, the terminal may display the drillingmachine and the moving route thereof in real time on the display.

The drilling machine may include a tilt sensor for sensing slopes alongthree axes, and a value sensed by the tilt sensor may be transmitted tothe terminal.

The terminal may control driving of the position adjustment device anddriving of the drill.

The drilling machine may transmit state information on driving of theposition adjustment device and the drill to the terminal.

To achieve the aforementioned object, an embodiment of the presentdisclosure may provide a smart drilling machine for performingperforation through control of driving of an external terminal, thesmart drilling machine including a drill, a position adjustment deviceconfigured to three-dimensionally move the drill for perforation, aprism configured to allow an external total station to acquire thelocation information of the smart drilling machine through tracking bythe external total station, a moving device configured to support thedrilling machine on the floor surface of the actual space and to movethe position adjustment device parallel to the floor surface of theactual space, and an ascending/descending device disposed between themoving device and the position adjustment device and configured toadjust the height of an initial position of the drill, wherein theposition adjustment device moves the prism to locations of three workregions of the drilling machine through preset driving to allow theterminal to recognize a perforable region or a perforable point of thedrilling machine through the total station.

The smart drilling machine may include a tilt sensor for sensing slopesalong three axes, and a value sensed by the tilt sensor may betransmitted to the terminal.

The position adjustment device and the drill may be driven under thecontrol of the terminal, and state information of driving of theposition adjustment device and the drill may be transmitted to theterminal.

The position adjustment device may be a robot including a plurality ofarms.

The smart drilling machine may include a sensor configured to detectcontact with a ceiling surface when the drill moves upwards to preventan error in an actual perforation depth due to a construction error, andmay transmit a value sensed by the sensor to the terminal.

After the drill comes into contact with the ceiling surface, perforationmay be performed to a preset perforation depth based on the contactposition with the ceiling surface.

To achieve the aforementioned object, an embodiment of the presentdisclosure may provide a method of controlling a smart drilling system,the method including a setting operation of connecting a total stationand a drilling machine via communication and displaying perforationlocation information in a design space, by a terminal, a firstmeasurement operation of acquiring location information of a referencepoint of the actual space and transmitting the acquired locationinformation to the terminal, by the total station, a first matchingoperation of displaying a location of the total station, by theterminal, a second measurement operation of acquiring locationinformation of the drilling machine and transmitting the acquiredlocation information to the terminal, by the total station, a secondmatching operation of displaying the location of the drilling machine,by the terminal, a third measurement operation of operating the drillingmachine to occupy positions of three work regions of the drillingmachine, sequentially acquiring location information of the three workregions of the drilling machine, and transmitting the acquired locationinformation to the terminal, by the total station, a perforationpreparation operation of displaying a perforable region or a perforablepoint at a current position of the drilling machine, by the terminal,and a perforation operation of performing perforation using a drill ofthe drilling machine.

When all perforation tasks are terminated at the current position of thedrilling machine, the total station may track the movement of thedrilling machine in real time and may transmit the acquired locationinformation of the drilling machine to the terminal.

When the position of the drilling machine is moved, the moving route ofthe drilling machine may be displayed on the terminal.

In the perforation operation, all perforation points, a currentperforable point, a perforated point, and a point being perforated maybe mutually distinguishably displayed by the terminal.

The setting operation may include inputting a drawing containingperforation location information in a design space and displaying theinput drawing in the display region.

The setting operation may include extracting a perforation point fromthe displayed drawing and displaying the coordinates of the extractedperforation point.

The method may include, in order to correct an error due to the state ofthe floor surface on which the drilling machine is positioned,transmitting a sensing value in a three-axis tilt sensor included in thedrilling machine to the terminal.

To achieve the aforementioned object, an embodiment of the presentdisclosure may provide a smart drilling machine including a terminalconfigured to map a design space to an actual space and havingperforation location information in the design space, a drilling machineincluding a drill for perforation and configured to perform perforationin the actual space under control of the terminal based on theperforation location information, and a total station configured toacquire location information of a reference point in the actual spacefor mapping the design space to the actual space and locationinformation of the drilling machine in the actual space, and to transmitthe location information of the reference point in the actual space andthe location information of the drilling machine to the terminal,wherein the terminal recognizes a position of the ceiling surface withwhich the drill comes into contact through a sensor included in thedrilling machine and the terminal controls driving of the drillingmachine to move the drill of the drilling machine mutuallydistinguishably at a home position, a margin position of the perforationpoint, the contact position of the ceiling surface, and the perforationlocation.

The margin position may be a position spaced apart downwards from adesigned position of a perforation point by a preset distance inconsideration of a construction error.

The terminal may control the drill to be driven for perforation afterthe drill comes into contact with the ceiling surface.

The drilling machine may control the drill to be moved upward from themargin position, and such upward movement may be performed until thedrill comes into contact with the ceiling surface. Accordingly, when thedrill comes into contact with the ceiling surface, the contact positionmay be recognized. The drill may not be driven until the drill comesinto contact with the ceiling surface.

The terminal may control the drill to perform perforation to a designeddepth based on the position at which the drill comes into contact withthe ceiling surface. Thus, even if a construction error occurs in theceiling surface, perforation may be performed to an accurate depth.

The drilling machine may include a tilt sensor configured to senseslopes along three axes and may transmit a value sensed by the tiltsensor to the terminal.

The terminal may correct an error due to the state of the floor surfaceon which the drilling machine is placed based on the value sensed by thetilt sensor.

The terminal may reduce an error due to vibration of the drillingmachine, or may correct the error through the value sensed by the tiltsensor.

When vibration occurs in the drilling machine, an error may randomlyoccur. Thus, when a slope value, observed by a tilt sensor, isarbitrarily changed, driving of the position adjustment device may bestopped, and after vibration is stopped, the value sensed by theposition adjustment device may be driven again. Thus, error due tovibration of the drilling machine may be remarkably reduced.

The terminal may determine the time at which the drill begins to move toa ceiling surface contact position from the margin position or the timeat which the drill begins to move to the perforation location from theceiling surface contact position through a value sensed by the tiltsensor.

The drilling machine may include a prism for allowing the total stationto acquire location information of the drilling machine throughcollimation or tracking by the total station.

The prism and the tilt sensor may be configured as one body, and theprism and the tilt sensor may be integrally moved with the drill. Thatis, the prism and the tilt sensor may be integrally manufactured.

In a single perforation mode, the terminal may control the drill to besequentially moved to a home position, a margin position of theperforation point, the perforation location, and the home position.

In a multiple perforation mode, the terminal may control the drill to bemoved to a margin position before perforation of a subsequentperforation point from a perforation location after perforation of aspecific perforation point. Thus, the time taken to move the drill tothe subsequent perforation point after the current perforation point maybe remarkably reduced.

In order to recognize a perforable region at the current location of thedrilling machine, the terminal may perform control to drive the drillingmachine to positions of three work regions of the drilling machine.

The home position of the drill may be one of the positions of three workregions of the drilling machine. The home position of the drill mayalternatively be referred to as the home position of the positionadjustment device, and may also be referred to as the home position ofthe drilling machine.

The total station may collimate the drilling machine and may transmitlocation information of three work regions of the drilling machine tothe terminal. According, the terminal may recognize the perforableregion and perforable points at the current position of the drillingmachine.

The terminal may display a perforable point and may include a menu forselecting a single perforation mode for perforating a single perforationpoint among perforable points and a multiple perforation mode forsequentially perforating perforable points.

To achieve the aforementioned object, an embodiment of the presentdisclosure may provide a smart drilling machine for performingperforation through control of driving of an external terminal, thesmart drilling machine including a drill, a position adjustment deviceconfigured to three-dimensionally move the drill for perforation, aprism configured to allow an external total station to acquire thelocation information of the smart drilling machine through tracking bythe external total station, a sensor configured to detect the positionat which the drill comes into contact with a ceiling surface, a movingdevice configured to support the drilling machine on the floor surfaceof the actual space and to move the position adjustment device parallelto the floor surface of the actual space, and an ascending/descendingdevice disposed between the moving device and the position adjustmentdevice and configured to adjust a height of an initial position of thedrill, wherein the drill is moved to the position at which the drillcomes into contact with the ceiling surface from a margin positionspaced apart downwards from a designed perforation point inconsideration of a construction error, and then perforation is performedto a design depth based on the position at which the drill comes intocontact with the ceiling surface.

The position adjustment device may be a robot including a plurality ofarms, and the sensor may be a torque sensor disposed at a joint betweenarms. The torque sensor may be disposed at each of a plurality ofjoints, and when the torque sensor detects a specific torque value orgreater, it may be determined that movement of the arm is confined.Based thereon, the position at which the drill and the ceiling surfacecontact each other may be recognized.

The smart drilling system may include a tilt sensor configured to senseslopes along three axes and may transmit a value sensed by the tiltsensor to the terminal.

The smart drilling system may include a prism for allowing the totalstation to acquire location information of the drilling machine throughcollimation or tracking by the total station.

The prism and the tilt sensor may be configured as one body, and theprism and the tilt sensor may be moved integrally with the drill.

To achieve the aforementioned objective, according to an embodiment ofthe present disclosure, a method of controlling a smart drilling systemincludes a setting operation of connecting a total station and adrilling machine via communication and displaying perforation locationinformation in a design space, by a terminal, a first measurementoperation of acquiring location information of a reference point of theactual space and transmitting the acquired location information to theterminal, by the total station, a first matching operation of displayinga location of the total station, by the terminal, a second measurementoperation of acquiring location information of the drilling machine andtransmitting the acquired location information to the terminal, by thetotal station, a second matching operation of displaying a location ofthe drilling machine, by the terminal, and a perforation operation ofperforming perforation through a drill of the drilling machine, whereinthe perforation operation includes an operation of controlling drivingof the drilling machine mutually distinguishably at a home position, amargin position of the perforation point, a ceiling surface contactposition, and a perforation location of the drilling of the drillingmachine.

The method of controlling the smart drilling system may include a thirdmeasurement operation of operating the drilling machine to occupypositions of three work regions of the drilling machine, sequentiallyacquiring location information of the three work regions of the drillingmachine, and transmitting the acquired location information to theterminal, by the total station.

The third measurement operation may be performed after the secondmatching operation is performed. Through the third measurementoperation, the region in which the drilling machine is capable ofperforming work at the current position of the drilling machine may bespecified.

The method of controlling the smart drilling system may include aperforation preparation operation of displaying a perforable region or aperforable point at the current position of the drilling machine, by theterminal.

The perforation preparation operation may be performed after the thirdmeasurement operation is performed. When the region in which thedrilling machine is capable of performing work is specified, the regionmay be matched to perforation points. That is, a perforation pointpresent in a work region may be specified. Thus, the perforable pointmay be visibly and intuitively recognized through the perforationpreparation operation.

In the perforation operation, after the drill comes into contact withthe ceiling surface, the drill may be controlled to be driven forperforation.

In the perforation operation, the drill may be controlled to beperforated to a design depth based on the contact position at which thedrill and the ceiling surface contact each other.

The drilling machine may include a tilt sensor for sensing slopes alongthree axes, and an error due to a floor surface on which the drillingmachine is positioned may be compensated for through a value sensed bythe tilt sensor.

An error due to vibration of the drilling machine may be reduced orcorrected through the value sensed by the tilt sensor.

Features according to the aforementioned embodiments may be embodied incombinations according to other embodiments unless they contradict eachother or are mutually exclusive with each other.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are included to provide a furtherunderstanding of the present disclosure and are incorporated in andconstitute a part of this application, illustrate embodiment(s) of thepresent disclosure and together with the description serve to explainthe principle of the present disclosure. In the drawings:

FIG. 1 is a diagram showing a concept of the configuration of a smartdrilling system according to an embodiment of the present disclosure;

FIG. 2 is a diagram of the configuration of control of a smart drillingsystem according to an embodiment of the present disclosure;

FIG. 3 is a diagram showing an example of a smart drilling machineaccording to an embodiment of the present disclosure;

FIG. 4 is a flowchart of a method of controlling a smart drilling systemaccording to an embodiment of the present disclosure;

FIG. 5 is a diagram showing a display of a terminal in an initial state;

FIG. 6 is a diagram showing a display of a terminal when the display ofthe terminal displays task creation for performing perforation work;

FIG. 7 is a diagram showing a display of a terminal after a drawing isopened;

FIG. 8 is a diagram showing a display of a terminal after a perforationpoint is extracted from a drawing;

FIG. 9 is a diagram showing a display of a terminal after connectionwith a total station;

FIG. 10 is a diagram showing a display of a terminal after connectionwith a smart drilling machine; and

FIG. 11 is a diagram showing a display of a terminal while perforationwork is being performed.

DETAILED DESCRIPTION OF THE INVENTION

Hereinafter, a smart drilling machine, a smart drilling system, and amethod of controlling the smart drilling system will be described withregard to exemplary embodiments of the present disclosure with referenceto the attached drawings.

FIG. 1 is a diagram showing a concept of the configuration of a smartdrilling system according to an embodiment of the present disclosure.

The smart drilling system may include a terminal 100, a smart drillingmachine 200, and a total station 300.

The smart drilling system may be configured to automatically performperforation and, for example, may be configured to perforate an indoorceiling surface.

A perforation point needs to be formed according to a predeterminedrule. That is, perforation needs to be performed at a designed positionand to a designed size and depth. That is, perforation needs to beperformed according to preset perforation conditions.

The preset perforation conditions may be obtained from a blueprint, andaccordingly, the perforation conditions may be transferred to a drillingmachine, and the drilling machine may automatically perform perforation.To this end, it may be necessary to accurately map a design space to anactual space. Here, the actual space may be, for example, an indoorspace of a building in which perforation is directly performed.

In order to map the design space to the actual space, the total station300 may be included. The total station 300 may be positioned on a floorsurface 1 of the actual space and may be fixedly supported on the floorsurface.

The actual space may be defined by a ceiling surface 3, a side wall 2,and the floor surface 1. The smart drilling system may include at leasttwo side walls 2, and edges of the side walls may be connected to eachother via a drilling machine.

In order to map the design space to the actual space, a reference point4 needs to be formed in the actual space. The smart drilling system mayinclude the three reference points 4, in which case the reference points4 may be respectively formed at different side walls. Coordinateinformation on the three reference points may be known, and thus, thetotal station may map the design space to the actual space bycollimating the three reference points and mapping coordinateinformation recognized through collimation to the known coordinateinformation. That is, a transform matrix for mapping the design space tothe actual space may be obtained.

In detail, when the total station 300 transmits obtained locationinformation of the three reference points to the terminal 100, theterminal may map the design space for a drilling machine to the actualspace through computation.

FIG. 1 illustrates a perforation point 5. The marked perforation point 5may indicate the positioned at which perforation is to be performed, anda perforation point may not actually be visibly marked on the ceilingsurface 3.

The terminal 100 may have information on the perforation location in thedesign space. That is, the terminal 100 may have a blueprint storedtherein. The terminal 100 may control the operation of the drillingmachine 200 based on the information on the perforation location. Thedrilling machine 200 may perform perforation according to theinformation on the perforation location through control of the operationof the terminal 100.

When the total station 300 recognizes location information of the threereference points of the drilling machine, the total station may not bemoved. This is because, when the total station is moved, it is necessaryto again perform recognition of the location information of the threereference points.

In contrast, the region within which it is possible to performperforation at the current position of the drilling machine 200 islimited, and thus it may be necessary to move the entire drillingmachine 200. For this reason, it may be necessary to recognize thecurrent location of the drilling machine 200. The total station 300 maybe configured to acquire location information of the drilling machine.

That is, the total station 300 may acquire location information of areference point in an actual space and location information of adrilling machine in the actual space, and may transmit the acquiredinformation to the terminal 100.

FIG. 2 is a diagram of the configuration of control of a smart drillingsystem according to an embodiment of the present disclosure.

The terminal 100 may include a controller 110, a communicator 120, and adisplay 130. The controller 110 may include a processor for executingvarious computation tasks or control flows.

The communicator 120 may include a communication module forcommunication with the drilling machine 200 and the total station 300,and the communicator 120 may include a plurality of communicationmodules depending on the communication method.

The communicator 120 may include a communication module for wirelesscommunication with the total station, and in detail, may include along-distance communication module. For example, the communicator 120may include a communication module for radio-frequency communication.

The communicator 120 may include a communication module for wirelesscommunication with the drilling machine 200. In detail, the communicator120 may include a short-distance communication module, for example, aWi-Fi communication module and a Bluetooth communication module.Needless to say, a method of the communication module may also bechanged.

The display 130 may have the function of a manipulation unit forallowing a worker to perform manipulation through click or touch.Needless to say, the display may have a display function of visiblydisplaying information. Thus, the display may also be referred to as auser interface (UI) for inputting information or a command anddisplaying information or a state.

The drilling machine 200 may include a drill 230 and a controller 210.The controller 210 may be configured irrespective of control of theoperation of the drill 230. That is, control of the operation of thedrill 230 may be performed through the terminal 100.

A communicator 220 of the drilling machine may be configured tocommunicate with the communicator 120 of the terminal and may include aWi-Fi communication module and a Bluetooth communication module.

The drilling machine 200 may include a manipulation unit 240. Themanipulation unit 240 may include a manipulation unit for applying powerto the drilling machine, and as necessary may include a manipulationunit for an operation of an ascending/descending device 260 or a movingdevice 270, which will be described below.

Perforation through a drill may be performed by moving the drill in thedepth direction of perforation as well as rotating the drill. Inaddition, there may be a plurality of perforation points, rather than asingle point. Thus, it may be necessary to control the position of thedrill along three axes. Accordingly, the drilling machine 200 accordingto the present embodiment may include a position adjustment device 250for adjusting the position of the drill.

The position adjustment device 250 may be configured in various forms.

For example, an x-axis driving device, a y-axis driving device, and az-axis driving device may be configured individually, and the positionadjustment device may be embodied through these driving devices.

For example, the position adjustment device 250 may be a robot. That is,the position of a drill disposed on a distal arm may be adjusted througha plurality of arms. A joint may be disposed between the arms. That is,the position of the drill may be varied through rotational displacementat the joint. The position of the drill may be determined through acombination of rotational displacements at a plurality of joints.

Hereinafter, an example in which the position adjustment device isembodied as a robot will be described for convenience of description.

The drilling machine 200 may include the ascending/descending device260. The height of a ceiling on which perforation is performed may bevaried depending on the jobsite. The height capable of being covered bythe robot 250 may be inevitably limited. Thus, it may be necessary toinclude the ascending/descending device 260 for raising and lowering thereference position of the robot 250.

The structure of the ascending/descending device 260 may be the same asor similar to the structure of the scaffolding. The ascending/descendingdevice 260 may ascend and descend through electric motion. Theascending/descending device may be positioned below the robot 250.

The drilling machine 200 may include the moving device 270. The size ofthe actual space in which perforation is performed may be large, whereasthe area capable of being covered by the fixed drilling machine 200 maybe inevitably limited. Thus, it may be necessary to include a movingdevice for moving the reference position of the robot 250 in ahorizontal direction.

The moving device 270 may include a wheel, and the drilling machine maybe moved by pushing or pulling the drilling machine while holding ahandle.

The moving device may be operated through electric motion.

The moving device may include a caterpillar track. The caterpillar trackmay allow the moving device to stably move because the area thatcontacts a floor surface is relatively very large. In addition, thedrilling machine may be stably supported in a fixed state, andaccordingly, vibration generated while drilling work is performed orwhen the robot 250 moves may be remarkably reduced. In addition, thearea that contacts the floor surface is very large, and thus thecaterpillar track may relatively and remarkably reduce the influence ofthe state of the floor surface (construction errors or a contaminationstate).

The drilling machine 200 may include a sensor 280. The sensor 280 may beconfigured to detect that the drill 230 comes into contact with theceiling surface. When the drill 230 is moved upward and comes intocontact with the ceiling surface, the sensor 280 may detect contact, ormay detect vibration generated through contact.

When the robot 250 is driven, rotation at a joint may be performed.Thus, when rotation is limited, torque equal to or greater than apredetermined magnitude may be generated. In order to move the drillupwards, the joint needs to be rotated, and in this case, since rotationis limited, more torque than necessary may be generated. The time andposition at which the drill comes in contact with the ceiling surfacemay be recognized by detecting this torque value.

The drilling machine 200 may include a tilt sensor 290. The drillingmachine 200 may be configured to detect the horizontality of thedrilling machine itself. Depending on the state of the floor surface,the drilling machine may be slightly inclined. Such a fine slope may beamplified, thereby generating a large error when actual perforation isperformed.

Thus, the horizontality of the drilling machine may be detected throughthe tilt sensor 290, thereby correcting the error.

When the robot 250 is moved, vibration may be generated. The vibrationmay continue when the drill ascends to reach the ceiling surface at amargin position. In this case, a position error may occur when the drillcomes into contact with the ceiling surface. Accordingly, whethervibration is generated may be recognized through the tilt sensor 290before the drill ascends at the margin position.

When vibration is determined to be less than a tolerance through a valuesensed by the tilt sensor 290, the drill may be controlled to ascend atthe margin position. That is, the robot 250 may move the drill to themargin position, may stop operating until it is determined thatvibration is removed, and may then move the drill upwards. Here, thevalue sensed by the tilt sensor 290 may be transmitted to the terminal100 in real time. Accordingly, an error due to vibration may be reduced,the perforation location may be accurately calculated, and perforationmay be performed to an accurate perforation depth.

The total station 300 may not be individually changed in order to beapplied to an embodiment of the present disclosure. That is, theexisting total station 300 may be used intact.

The total station 300 may include a controller 310 for basic control, ameasurer 320, a manipulation unit 330, and a communicator 340. Themeasurer 320 may be configured to recognize location information of ameasurement target by collimating or tracking the measurement target.The location information may be recognized by irradiating themeasurement target with a laser beam.

The location information recognized by the total station 300 may betransmitted to the terminal 100 through the communicator 340.

The relationship between the terminal 100, the drilling machine 200, andthe total station 300 will be described briefly.

The total station 300 may acquire the location information of themeasurement target (an indoor space and a drilling machine) and maywirelessly transmit the acquired information to the terminal 100. Theterminal 100 may control the movement, measurement, and state of thetotal station. That is, the terminal 100 may remotely control theoperation of the total station.

The terminal 100 may remotely control the operation of the robot 250 andthe drill 230. That is, control of the position of the drill and adriving control command of the drill may be performed through theterminal 100 rather than being performed by the controller 210 of thedrilling machine 200.

The drilling machine 200 may transmit state information of the robot 250to the terminal 100. That is, the drilling machine 200 may receive thestate information of the robot from the terminal as feedback, and maymore precisely control the robot.

The drilling machine 200 may transmit a detection value of varioussensors to the terminal 100. For example, a detection sensor of a torquesensor and a detection value of a tilt sensor may be transmitted to theterminal 100 in real time.

It may not be desirable for the drilling machine 200 and the terminal100 to transmit and receive information through a single communicationmodule. This is because the type and amount of information that istransmitted and received through real-time communication is changed.Accordingly, a communication module for transmitting and receivinginformation such as a control command or state information correspondingto a control command between the terminal 100 and the drilling machine200 and a communication module for transmitting a detection value of asensor may be configured individually. The former communication modulemay be a Wi-Fi communication module, and the latter communication modulemay be a Bluetooth communication module.

FIG. 3 is a diagram showing an example of a smart drilling machineaccording to an embodiment of the present disclosure.

The drilling machine 200 may include a main body 201, the positionadjustment device (robot) 250, the ascending/descending device 260, andthe moving device 270. The main body 201 may include a robot computerbuilt therein. That is, the controller 210 may be accommodated insidethe main body 201, which is formed like a case. The communicator 220 mayalso be accommodated inside the main body 201.

The robot 250 may be positioned above the main body 201, and theascending/descending device 260 may be disposed below the main body 201.

The drilling machine 200 may be horizontally moved by the moving device270, and the ascending/descending device 260 may be disposed between themoving device 270 and the robot 250. Thus, the robot 250 and the mainbody 201 may stably ascend and descend by driving theascending/descending device 260.

The moving device 270 may include a handle 271 that is held by a workerto push or pull the drilling machine.

The robot 250 may include a plurality of arms 251 and a joint 252between the arms. The robot 250 may include three arms. A first arm maybe connected to the main body 201, and the last arm (distal arm) may beconnected to the drill 230.

The drill 230 may be fixed to the distal arm, and as the robot 250 isdriven, the drill 230 may be moved three dimensionally.

In order to accurately control the position of the drill, the positionof the drill needs to be accurately recognized. In order to recognizethe position, a prism 202 may be included, and the prism 202 may beintegrally moved with the drill 230. That is, a relative position changebetween the prism 202 and the drill 230 may be avoided. Thus, the drilland the prism 202 may be fixed together to the distal arm. In order tofix the prism, a rigid bracket may be used.

Although not shown, the drilling machine 200 may further include variouscomponents. For example, the drilling machine 200 may include a cleanerfor removing dust generated during perforation work. A suction nozzlemay be configured to surround a drill, and may be elastically deformed.That is, the suction nozzle may be adhered to a region around aperforation point to surround the perforation point, and the suctionnozzle may be compressed and maintained to be adhered to the region whenthe drill is moved upwards during perforation work. Accordingly, dustgenerated during perforation work may be introduced into a main body ofthe cleaner through the suction nozzle.

The beginning of an operation of the cleaner may be operativelyassociated with an operation of the drill. That is, as soon as the drillis driven to rotate, the cleaner may start absorption. Even if rotationof the drill is terminated, remaining dust may also be present, andaccordingly, after rotation of the drill is terminated and a short timeelapses, the operation of the cleaner may be stopped.

Hereinafter, a method of controlling a smart drilling system accordingto an embodiment of the present disclosure will be described in moredetail with reference to FIGS. 4 to 11.

Operations shown in FIG. 4 are described with reference to the displayscreen shown in FIGS. 5 to 11. Accordingly, first, a display of aterminal will be described in detail with reference to FIG. 5.

As shown in FIG. 5, the terminal may include the display 130 or ascreen. This may be referred to as a display, and a user interface maybe embodied through the display.

The display 130 may be divided into respective regions. That is, theterminal may separately display a menu region 140 and a display region150. The terminal may include a perforation coordinate display region160 separately from the menu region 140 and the display region 150. Theterminal may include a state display region 170 separately from theseregions.

As shown in the drawings, the menu region 140 may be positioned abovethe display region 150, which occupies the greatest portion thereof, andthe perforation coordinate display region 160 and the state displayregion 170 may be positioned at one side of the display region.

The display region 150 may display a view having perforation locationinformation, location information of the total station, and locationinformation of the drilling machine through mapping information betweenthe design space and the actual space. The perforation locationinformation, the location information of the total station, and thelocation information of the drilling machine may be sequentially addedand displayed in one view, which will be described below.

The display region 150 may include a submenu 151 for zooming in/out,rotation, and viewpoint conversion of the view. The display region 150may display coordinates of the view. That is, x, y, and z axes may bedisplayed. The viewpoint of the view may be easily recognized throughrotation around the x-, y-, and z-coordinate axes.

The menu region 140 may include menus 141 and 142 for connecting theterminal to external devices. In addition, the menu region 140 mayfurther include work menus 143, 144, and 145 for importing perforationcoordinates for perforation work.

The menu region 140 may include menus for perforation, and may alsoinclude additional menus. Each menu will be described below in detail.

Menus included in the menu region 140 may be arranged in the order ofthe perforation work. That is, generally, menus required for settingsfor starting the perforation work may be arranged on the left side, andmenus for a command for the perforation work may be arranged on theright side.

The perforation coordinate display region 160 may display thecoordinates of a perforation point in numerical form. In addition, theperforation coordinate display region 160 may display the names ofperforation points in order to distinguish therebetween. Theseinformation items may be displayed like a spreadsheet having a pluralityof columns 163 with respect to each perforation point.

The perforation coordinate display region 160 may include a submenu 161for adding a perforation point separately from the work menus 143, 144,and 145 of the menu region 140.

The perforation coordinate display region 160 may include a selectedpoint perforation menu 164 separately from a perforation menu 148 of themenu region 140. The perforation menu 148 may be a menu for a pluralityof perforation mode commands, and the selected point perforation menumay be a menu for a single perforation mode command.

The state display region 170 may display the detailed progress ofprocessers related to the perforation work through text or a symbol.

As shown in FIG. 4, the method of controlling a smart drilling systemaccording to an embodiment of the present disclosure may include asetting operation S10 of operatively associating the terminal 100, thedrilling machine 200, and the total station 300, which are separatelyconfigured, with one another.

In detail, the setting operation may be an operation of connecting atotal station and a drilling machine through communication anddisplaying perforation location information in a design space by aterminal.

As shown in FIG. 5, when a worker pushes a T/S connection menu 141 ofthe menu region 140, the terminal may be connected to a total stationpositioned around the terminal for communication. The terminal and thetotal station may be connected for communication via a radio frequency.In this case, an active window and other components that are not shownmay be generated, whereby radio-frequency communication may beperformed.

When a robot connection menu 142 is selected after connection with thetotal station, the terminal and a drilling machine positioned around theterminal may be connected through communication. In this case, an activewindow and other components that are not shown may be generated, wherebyWi-Fi connection or Bluetooth connection may be established.

The order in which the total station and the robot are connected to eachother may vary. The menu color before connection is completed and themenu color after connection is completed may be different from eachother. For example, before connection, the menu may be displayed in agreen color, and after connection, the menu may be displayed withoutcolor.

The menu region 140 may include the work menus 143, 144, and 145 forcollectively inputting coordinate points of perforation for performingthe perforation work.

The work menu may be a menu for separating a plurality of actual spacesin which the perforation work is to be performed.

As shown in FIG. 6, when a new task menu 143 is selected, an activewindow 152 may be displayed on a display region. A new task name may becreated by writing a task name on the active window.

A worker may separate a series of tasks and may create task names inconsideration of the schedule of the entire perforation work. The tasknames may be created to classify a plurality of actual spaces intovarious sectors. The floor on which the perforation work is to beperformed and the task names may be created in the form of sectionsobtained by classifying the corresponding floor.

Whenever a new work is performed, a task name may be created, or theentire perforation work may be divided in advance and a plurality oftask names may be created in detail.

When the task name is created, a drawing open menu 145 corresponding tothe corresponding task name may be selected. That is, a blueprint havinglocation information of a perforation point may be imported and may bematched with the corresponding task name.

When perforation work which corresponds to the created work is notterminated, the current state may be stored, and then a task open menu144 may be selected to select an existing task.

FIG. 7 illustrates an example in which the drawing open menu 145 isselected and the selected drawing is displayed on the display region150.

A drawing displayed through the drawing open menu 145 may be a drawingof the entire actual space. That is, the displayed drawing 153 may be adrawing including a perforation point or a drawing of a background onwhich the perforation point is to be formed.

Depending on the designer, the perforation points may be displayed invarious forms. Accordingly, it may be necessary to extract theperforation point from the entire drawing. Extraction of the perforationpoint may be performed in various methods such as a method ofdesignating a region, a method of designating the shape of a perforationpoint, or a method of selecting perforation points one by one.

When the perforation points are extracted, perforation points may bedisplayed in the menu region 140 as shown in FIG. 8. In addition, aperforation point name, xyz coordinates, and a perforation point statemay be displayed in the form of a drawing in the perforation coordinatedisplay region.

A displayed view may be zoomed in and out, whereby the positions andnumber of all perforation points may be visibly recognized.

The display screens shown in FIGS. 5 to 8 may correspond to sequentialoperations of the setting operation S10 shown in FIG. 4. The shownoperations may include an operation of recognizing and displaying adrawing as a reference for work through a series of procedures by aterminal. In addition, the operations may include an operation ofconnecting the total station and the drilling machine to the terminal.

Here, an operation of opening a drawing may be performed in advance, andthen an operation of connecting the total station and the drillingmachine may be performed.

For perforation, the actual space and the design space need to be mappedto each other. To this end, the total station needs to perform a firstmeasurement operation S20 of acquiring location information of areference point of the actual space and transmitting the same to theterminal. The menu region 140 may include a reference-point setting menu146. The reference-point setting menu may be selected, and the totalstation may acquire location information of three reference points inthe actual space. An active window in a voice or menu region may guide aworker to sequentially collimate the three reference points, and mayindicate that the location information of the reference points isreceived.

The actual coordinates of the three reference points may be known. Thatis, the three reference points may be points mapped to three referencepoints specified in the design space. Accordingly, when the totalstation acquires location information of the three reference points, theposition of the total station may be recognized through triangulation.

As shown in FIG. 9, when the total station acquires the locationinformation of the three reference points and transmits the acquiredinformation to the terminal, the terminal may map the actual space tothe design space and may display the total station at the correspondingposition (S30). That is, a first matching operation S30 may beperformed. The total station may be displayed in the form of an icon 156in the display region 150. That is, information about the location ofperforation points and location information of the total station may bevisibly displayed in the display region.

Thus, the first measurement operation S20 may be started by selectingthe reference-point setting menu 146 and the first matching operationS30 may be terminated by displaying the icon 156 of the total station inthe display region.

The drilling machine may perform perforation based on designed locationinformation of the perforation point in the actual space. Thus, theposition of the drilling machine in the actual space needs to be mappedto the position of the drilling machine in the design space.

To this end, a second measurement operation S40 may be performed. Thatis, the total station may acquire the location information of thedrilling machine and may transmit the acquired information to theterminal. In this case, the location information of the drilling machinemay be acquired at the home position of the drilling machine. Then, whenthe total station transmits the location information of the drillingmachine to the terminal, the terminal may perform a second matchingoperation of displaying the position of the drilling machine throughmapping. The state in which the second matching operation is completedis shown in FIG. 10.

FIG. 10 shows location information of a perforation point, locationinformation of a total station, and location information of a drillingmachine together. As such, perforation preparation may be completed.

FIG. 10 shows a collimation line 157. That is, it may be seen that aprism is positioned on a drilling machine icon 155 at the home positionof the drilling machine. In other words, it may be seen that thecollimation line is formed between the total station and an internalregion of the drilling machine icon. As seen from FIG. 10, all of theperforation points, the drilling machine, the total station, and thecollimation line are displayed as one view by zooming out the view.

Accordingly, after a second matching operation S50 is performed, aperforation operation S80 may be performed.

Perforation may be performed by a drill. That is, perforation may beperformed by the drill through rotation driving and vertical movement ofthe drill, which is electrically (automatically) performed rather thanbeing manually performed. It may be very inefficient to move the entiredrilling machine whenever a single perforation point is perforated andthen another perforation point is perforated. In other words, it may bedesirable to perforate all perforation points while minimizinghorizontal movement of the drilling machine in the actual space.

To this end, the menu region 140 may include a perforable pointverification menu 147. Through the perforable point verification menu, aperforable region or perforable points at the current position of thedrilling machine may be recognized.

In detail, a third measurement operation S60 of acquiring locationinformation of three drilling-machine (robot) work regions may beperformed. The third measurement operation may be an operation ofoperating the drilling machine to occupy positions of three differentwork regions and acquiring the location information at each of the workregion positions through the total station.

The third measurement operation S60 may be performed in order to converta drilling machine (robot) coordinate system into a design spacecoordinate system. When only the position of the reference point of thedrilling machine (robot) is recognized, the orientation of the drillingmachine (robot) may not be capable of being recognized. That is, whenthe orientation of the drilling machine is recognized, a work region ofthe drilling machine at the current position of the drilling machine maybe recognized. To this end, it may be necessary to acquire locationinformation of three different work regions.

The acquired location information may be transmitted to the terminal100. Here, a work region position may be preset. Thus, thespecifications of a region in which the drilling machine is capable ofperforming work may be preset, and thus the drilling machine (robot)coordinate system may be converted into a design space coordinate systemthrough the location information items, and the region in which thedrilling machine is capable of performing work at the current positionmay be recognized.

Accordingly, the terminal may perform a perforation preparationoperation S70 of displaying a perforable region or a perforable point ina display region at the current position of the drilling machine.

As shown in FIGS. 8 and 9, all perforation points 154 may be displayedin the display region, and as shown in FIG. 11, a perforable point 154 band a remaining perforation point 154 a may be mutually distinguishablydisplayed. Also, a perforating point 154 d and a next perforation point154 c may be displayed in the display region That is, the perforablepoint may be recognized at the current location of the drilling machine.

When the perforable point is displayed, the perforation operation S80may be performed. That is, when the perforation menu 148 is selected,perforation may be performed. In this case, perforable points may besequentially perforated. That is, perforation through the perforationmenu 148 may be referred to as a multiple perforation mode.

As perforation is performed, the robot 250 may be moved, and thus, theposition of the prism may be varied. Thus, the position of thecollimation line may be varied. On the other hand, the positions of thetotal station and the drilling machine may be fixed on the display, aswell as the actual space.

As shown in FIG. 11, as perforation is performed, all of the perforationpoints, the perforable points, the perforated points, and the pointbeing perforated may be visibly differently displayed.

The perforable point may be displayed with a red-filled circle, and theperforated point may be displayed with a green-filled circle. The pointbeing perforated may be displayed with yellow, and the remainingperforation point but not the perforable point may be displayed with anempty circle. Needless to say, the shapes and colors for identificationthereof may be changed.

Thus, a worker may very intuitively recognize the current state of theperforation work while viewing the display.

The perforation coordinate display region may display the state of eachperforation point through text or a symbol.

The perforable point may be recognized at a specific position of thedrilling machine, and accordingly, the number of times the drillingmachine moves horizontally may be greatly reduced. However, in thesituation in the field, a perforation point may be added, or only asingle perforation point but not a plurality of perforation points maybe perforated.

To this end, according to the present embodiment, a single perforationmode as well as a multiple perforation mode may be provided. Inaddition, a method of adding different types of perforation points aswell as extracting (adding) all perforation points through open drawingmay be provided. For example, a method of adding a small number ofperforation points or a single perforation point may be provided.

The perforation coordinate display region 160 may include the submenu161 for adding a perforation point. The submenu may be configured toselect at least one of addition of a perforation point through adrawing, addition of a perforation point through a spreadsheet file, andaddition of a perforation point through a coordinate input. In addition,the submenu may include a search menu 162 configured to search adatabase in order to add a perforation point.

At an actual site, a 3D blueprint and a 2D blueprint may be used, andthe perforation point may be provided only by a 2D blueprint, aspreadsheet file, or the like. A background drawing as an example of the3D blueprint may be imported through the drawing open menu 145, which isa main menu, information on a perforation point may be imported from thesubmenu, and the background and the perforation point may be mapped toeach other and may be displayed in the display region. Accordingly, evenif a field environment or a design environment is changed, the changedfield environment or design environment may be flexibly responded to.

The perforation coordinate display region 160 may include asingle-perforation-mode-menu 164. For example, thesingle-perforation-mode-menu 164 may be configured as a selected pointperforation menu. When the selected point perforation menu is selected,perforation of a selected point may be performed, and in this case, theselected point perforation menu may be changed to a selected pointperforation stop menu. When the selected point perforation stop menu isselected, only perforation of a selected point may be stopped.

It may be necessary to delete the extracted or added perforation point.When an incorrect perforation point is input, it may be necessary todelete only a corresponding perforation point. To this end, a deletemenu 165 may be included.

When a corresponding perforation point is selected and activated in theperforation coordinate display region and then the delete menu 165 isselected, only the corresponding perforation point may be deleted.

The menu region may include a plurality of other menus 149, and forexample, may include an emergency stop menu. The emergency stop menu maybe a menu for stopping driving of the drilling machine in the case ofemergency.

When the drilling machine terminates all perforation tasks at a specificposition, the terminal may perform notification. A user may move thedrilling machine to a region nearby the region in which perforation isterminated. In this case, the terminal may display the moving route ofthe drilling machine in real time. This is because the drilling machineis tracked in real time.

When the drilling machine is moved to a nearby position, the thirdmeasurement operation S60 and the perforation preparation operation S70may be performed, and then the perforation operation S80 may beperformed again.

FIG. 10 illustrates about 220 perforation points and about 30 perforablepoints. It may be possible to perforate about 30 perforation points atthe current position of the drilling machine, and thus it may be seenthat all perforation points are capable of being perforated by movingthe drilling machine about 6 to 8 times arithmetically.

Accordingly, when a large amount of perforation is performed, veryefficient and effective perforation may be performed.

The case in which a multiple perforation mode and a single perforationmode are executed in the aforementioned perforation operation S80, andthus a separate selection menu is included, has been described.

It may be important to accurately match the perforation point and toperform perforation, but it may also be important to accurately match aperforation depth and to perform perforation. For example, the ceilingsurface on which perforation is to be performed may be positioned about1 cm higher than a design location due to a construction error. In thiscase, when the designed perforation depth is 3 cm, the actualperforation depth needs to be 2 cm according to accurate coordinatemapping.

However, in this case, the perforation depth is not the same as thedesigned depth, and thus an anchor bolt may not be sufficiently fixed.In other words, despite of the construction error, actual perforationmay be performed to the designed perforation depth.

The present embodiment may provide a smart drilling machine, a smartdrilling system, and a method of controlling the smart drilling systemfor performing perforation to an accurate perforation depth despite aconstruction error.

To this end, the drilling machine may be driven to distinguish a homeposition, a margin position for a perforation point, a contact positionof a ceiling surface, and a perforation location. The terminal may driveand control the drilling machine to be distinguished at these positions.

As described above, the home position of the drilling machine may be ahome position of the robot 250, and may be any one of three work regionpositions.

The margin position may refer to a position spaced apart downwards froma deigned position of a perforation point by a preset distance inconsideration of a construction error. For example, the margin positionmay refer to a position spaced apart downwards from a designedperforation start point of perforation by about 5 to 10 cm. When aconstruction error is very small, the margin position may also be set tobe small.

While being moved upwards to the margin position, the drill may comeinto contact with the ceiling surface at any moment. The total stationmay recognize the position of the ceiling surface with which the drillcomes into contact, and may recognize the time at which the drill comesinto contact with the ceiling surface through a sensor. Thus, theposition of the ceiling surface with which the drill comes into contactmay be set to a start point of perforation, and perforation may beperformed to the designed perforation depth.

When there is no error in construction of the ceiling surface, thedesigned start point of perforation may be the position of the ceilingsurface with which the drill comes into contact. When the ceilingsurface is constructed higher than designed, the drill may come intocontact with the ceiling surface at a higher position than the designedstart point of perforation. Accordingly, in this case, the start pointof perforation (reference point of perforation depth) may also bechanged, and thus perforation may be performed to an accurateperforation depth.

The position of the drill will be described in more detail.

When the entire drilling machine is moved, the drill may be positionedat the lowest position. This may be referred to as the home position ofthe drilling machine.

In order to perform perforation, a robot may be moved in order to movethe drilling machine to a margin position. In addition, the drill may bemoved upward to the position of the ceiling surface with which the drillcomes into contact from the margin position. This start of upwardmovement may be performed when vibration is determined to be negligiblethrough a tilt sensor.

When the drill comes into contact with the ceiling surface, the pointmay be recognized as the start point of perforation, and normalperforation may be started. That is, after the drill comes into contactwith the ceiling surface, the drill may start being rotated and driven.In response to rotation and driving of the drill, the drill may bedriven to be vertically pushed.

The drill may terminate perforation at the perforation location, and maybe then moved to the home position of the drill. That is, the drill mayreturn to the initial position thereof.

Here, it may be seen that a change in the position of the drill isappropriate for perforation of a single perforation point. That is, itmay be seen that safe and accurate perforation is possible. However, itmay be seen that, assuming that a gap between the home position and theperforation location is large, the time taken to move the robot forperforation is longer than the time taken to actually performperforation.

Accordingly, a drill position control pattern in a single perforationmode and a drill position control pattern in a multiple perforation modemay be different from each other.

A drill position control pattern for first perforation of a first pointand a drill position control pattern after the last perforation may bethe same in the single perforation mode and the multiple perforationmode. However, when intermediate perforation is performed and then nextintermediate perforation is performed in the multiple perforation mode,the drill position control pattern may be changed.

In detail, after the intermediate perforation, the drill may be moved toa next margin position of the perforation point rather than returning tothe home position. Then, the contact position of the ceiling surface maybe checked at the margin position, and perforation may be performed.This repetition may be performed up to the last perforable pointperforation, and after the last perforable point perforation, the drillmay return to the home position. Then, the entire drilling machine maybe horizontally moved to a nearby position.

The time taken to perforate a plurality of perforation points may beremarkably reduced by minimizing driving in which the drill returns tothe home position in the multiple perforation mode.

When perforation is performed in the actual space, a change in theposition of the total station may be minimized. That is, when theposition of the total station is fixed in the actual space, the movementof the entire drilling machine in the actual space may be recognized. Inother words, the total station may always track the prism included inthe drilling machine. Accordingly, some components of the drillingmachine, for example, the drill, the cleaner nozzle, or the positionadjustment device, may not be interposed between the prism and the totalstation.

Accordingly, the position of a reference point of the drilling machineor the positions of a work region of the drilling machine may be set insuch a way that the prism and the total station always face each otherwith respect to the circumference of the drilling machine, i.e., 360degrees. Accordingly, the present disclosure also proposes that thetotal station be installed within a desirable height range.

That is, when the total station is installed in a set height range or ata set height, an obstacle between the prism of the drilling machine andthe total station may be avoided at the position of the reference pointof the drilling machine and the position of the work region. In otherwords, the position of the reference point and the position of the workregion may be preset to avoid the obstacle.

Accordingly, it may not be necessary to frequently move the position ofthe total station.

In the drilling machine coordinate system, an obstacle between the prismof the drilling machine and the total station on a moving route of thedrill, that is, a moving route of the drill in the work region, may beavoided. In other words, moving routes may be preset assuming that theobstacle will be avoided.

However, an obstacle may be introduced during drilling work of thedrilling machine at some positions of the drilling machine due to astructural problem of the position adjustment device or the drillingmachine. For example, in the state in which the drilling machine isrotated 180 degrees, an obstacle may be introduced. That is, in aspecific posture of the drilling machine (a specific horizontal anglewith respect to the total station, for example, 180 degrees), theobstacle may be introduced between the prism and the total stationduring a procedure in which the drill performs perforation. Thisspecific posture may be referred to as a dead zone, and guidance may beperformed to prevent the dead zone from being generated in order tocontinuously track the prism.

Accordingly, the drilling machine may be moved in the actual space andmay be guided to avoid the state in which the drilling machine isrotated by 180 degrees in terms of the relationship between the drillingmachine and the total station. As such, the total station may track theprism at the reference position of the drilling machine, the position ofthe work region position, and all positions at which the drill is movedto perform drilling work.

The present disclosure may provide a drilling machine, a drillingsystem, and a method of controlling the drilling system for moreaccurately, rapidly, and safely performing perforation work.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forcollectively setting a plurality of perforation points and also settinga specific single perforation point as necessary.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forautomatically perforating a plurality of perforation points and alsoautomatically perforating a specific single perforation point asnecessary. As such, an embodiment of the present disclosure may providea drilling machine, a drilling system, and a method of controlling thedrilling system for flexibly responding to the situation in the field.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forflexibly applying design information for a perforation point provided invarious forms. As such, an embodiment of the present disclosure mayprovide a drilling machine, a drilling system, and a method ofcontrolling the drilling system which are easily used even if thesituation in the field or a design changes.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system foreasily connecting a drilling machine and a total station through apersonal computer (PC) (terminal) for controlling the drilling machineand the total station and simultaneously easily recognizing stateinformation of the drilling machine and the total station.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forreducing the time taken to perforate all perforation points byminimizing movement of the drilling machine when all of the perforationpoints are perforated.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forrecognizing an optimum moving route for moving a drilling machine byrecognizing a perforable point at the current position of the drillingmachine and displaying the perforable point on a PC (terminal).

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forallowing a worker to intuitively recognize the current state ofperforation work by mutually distinguishably displaying all of theperforation point, the perforable point, the perforated point, and thepoint being perforated.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forreducing the time taken to recognize the perforable point by setting anyone of three reference points for recognizing a work region of thedrilling machine as a reference position point of the drilling machine.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forreducing the time taken to perform perforation by minimizing the movingroute of a position adjustment device of a drilling machine betweenperforation tasks when perforation is continuously performed.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forperforming perforation to an accurate depth at an accurate positiondespite an error based on the state of a floor surface on which thedrilling machine is positioned, a construction error such as a ceilingsurface on which perforation is performed, or vibration.

An embodiment of the present disclosure may provide a drilling machine,a drilling system, and a method of controlling the drilling system forminimizing a change in the control logic of the drilling machine and thetotal station by acquiring state information of the drilling machine viareal-time communication with the drilling machine and controlling anoperation of the drill and the position adjustment device of thedrilling machine by a PC (terminal), and acquiring the locationinformation of the drilling machine via real-time communication with thetotal station by the PC (terminal).

What is claimed is:
 1. A smart drilling system comprising: an externalterminal configured to map a design space to an actual space and havingperforation location information in the design space; a drilling machinecomprising a single prism and a drill for perforation and configured toperform perforation in the actual space based on the perforationlocation information under control of the terminal based on theperforation location information, wherein the single prism is rigidlyfixed to and is spaced apart from the drill by a bracket; and a totalstation configured to acquire location information of a reference pointin the actual space for mapping the design space to the actual space andlocation information of the drill and the drilling machine in the actualspace through tracking the prism, and to transmit the locationinformation of the reference point in the actual space and the locationinformation of the drill and the drilling machine to the terminal,wherein the total station is fixedly positioned on a floor surface of aconstruction site, wherein the drilling machine is moved to positions ofthree different work regions, and the total station sequentiallyacquires location information of the three different work regions of thedrilling machine by tracking the single prism and transmits the acquiredlocation information to the terminal, such that by using the transmittedlocation information of the three different work regions, the terminalconverts a drilling machine coordinate system into a design spacecoordinate system and recognizes an orientation of the drilling machine,wherein the terminal recognizes and displays a perforable region or aperforable point at a current position of the drilling machine throughthe location information of the drilling machine.
 2. The smart drillingsystem of claim 1, wherein the drilling machine comprises: a positionadjustment device configured to three-dimensionally move the drill forperforation.
 3. The smart drilling system of claim 2, wherein a relativeposition of the prism with respect to the drill is fixed, and athree-dimensional displacement and an angle of the drill are the samewith a three-dimensional displacement and an angle of the prism when theposition adjustment device is driven.
 4. The smart drilling system ofclaim 3, wherein the drilling machine comprises a moving deviceconfigured to support the drilling machine on a floor surface of theactual space and to move the position adjustment device parallel to thefloor surface of the actual space.
 5. The smart drilling system of claim4, wherein the drilling machine comprises an ascending/descending devicedisposed between the moving device and the position adjustment deviceand configured to adjust a height of an initial position of the drill.6. The smart drilling system of claim 2, wherein the position adjustmentdevice is a robot comprising a plurality of arms, and the drill and theprism are disposed at an arm installed at an end of the robot.
 7. Thesmart drilling system of claim 6, wherein the location information ofthe drilling machine comprises reference location information of thedrilling machine and location information of the three different workingregions, the three different working regions comprising three differentrobot work regions based on preset driving of the robot.
 8. The smartdrilling system of claim 7, wherein the terminal mutuallydistinguishably displays all perforation points, a current perforablepoint, a perforated point, and a point being perforated.
 9. The smartdrilling system of claim 1, wherein the total station tracks the prismin real time and acquires the location information of the drillingmachine.
 10. The smart drilling system of claim 9, wherein the drillingmachine comprises a tilt sensor configured to sense slopes along threeaxes and transmits a value sensed by the tilt sensor to the terminal.11. The smart drilling system of claim 10, wherein the terminal controlsdriving of the position adjustment device and driving of the drill; andwherein the drilling machine transmits state information of driving ofthe position adjustment device and the drill to the terminal.
 12. Asmart drilling machine for performing perforation through control ofdriving of an external terminal, the smart drilling machine comprising:a drill; a position adjustment device configured to three-dimensionallymove the drill for perforation; a single prism rigidly fixed to and isspaced apart from the drill by a bracket, the prism being configured toallow an external total station fixedly positioned on a floor surface ofa construction site to acquire location information of the smartdrilling machine and the location information of the drill throughtracking the prism; a moving device configured to support the drillingmachine on the floor surface and to move the position adjustment deviceparallel to the floor surface; and an ascending/descending devicedisposed between the moving device and the position adjustment deviceand configured to adjust a height of an initial position of the drill,wherein the position adjustment device moves the prism to positions ofthree different work regions of the drilling machine through presetdriving in order to sequentially acquire location information of thethree different work regions of the drilling machine through trackingthe single prism and transmit the acquired location information to theterminal by the total station, such that by using the transmittedlocation information of the three different work regions, the terminalconverts a drilling machine coordinate system into a design spacecoordinate system and recognizes an orientation of the drilling machineand a perforable region or a perforable point of the drilling machine.13. The smart drilling machine of claim 12, wherein the smart drillingmachine comprises a tilt sensor configured to sense slopes along threeaxes and transmits a value sensed by the tilt sensor to the terminal;wherein the position adjustment device and the drill are driven throughcontrol of the terminal, and state information of driving of theposition adjustment device and the drill is transmitted to the terminal;and wherein the position adjustment device is a robot comprising aplurality of arms.
 14. The smart drilling machine of claim 13, furthercomprising: a sensor configured to detect contact with a ceiling surfacewhen the drill moves upwards to prevent an error in an actualperforation depth due to a construction error, wherein a value sensed bythe sensor is transmitted to the terminal.
 15. The smart drillingmachine of claim 14, wherein the drill comes into contact with theceiling surface and then performs perforation to a preset perforationdepth based on a contact position with the ceiling surface.
 16. A methodof controlling a smart drilling system, the method comprising: a settingoperation of connecting a total station fixedly positioned on a floorsurface of a construction site and a drilling machine via communicationand displaying perforation location information in a design space, by anexternal terminal having a display; a first measurement operation ofacquiring location information of a reference point of an actual spaceand transmitting the acquired location information to the terminal, bythe total station; a first matching operation of displaying a locationof the total station, by the terminal; a second measurement operation ofacquiring location information of the drilling machine and a drill bytracking a single prism rigidly fixed to and spaced apart from the drillby a bracket, and transmitting the acquired location information to theterminal, by the total station; a second matching operation ofdisplaying a location of the drilling machine, by the terminal; a thirdmeasurement operation of moving the drilling machine to positions ofthree different work regions of the drilling machine, sequentiallyacquiring, by the total station, location information of the threedifferent work regions of the drilling machine by tracking the singleprism, and transmitting, by the total station, the acquired locationinformation to the terminal to convert a drilling machine coordinatesystem into a design space coordinate system and to recognize anorientation of the drilling machine by using the transmitted locationinformation of the three different work regions; a perforationpreparation operation of displaying a perforable region or a perforablepoint at a current position of the drilling machine, by the terminal;and a perforation operation of performing perforation through the drillof the drilling machine.
 17. The method of claim 16, wherein, when allperforation tasks are terminated at the current position of the drillingmachine, the total station tracks movement of the drilling machine inreal time and transmits the acquired location information of thedrilling machine to the terminal.
 18. The method of claim 17, wherein,when a position of the drilling machine is moved, a moving route of thedrilling machine is displayed on the terminal.
 19. The method of claim16, wherein the perforation operation comprises mutually distinguishablydisplaying all perforation points, a current perforable point, aperforated point, and a point being perforated, by the terminal.